Difference between revisions of "S21: exFAT"
From Embedded Systems Learning Academy
Proj user11 (talk | contribs) (→Hardware Design) |
Proj user11 (talk | contribs) (→Schedule) |
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| Feb 27, 2021 | | Feb 27, 2021 | ||
| March 5, 2021 | | March 5, 2021 | ||
| − | | First team meetup to discuss the direction of the project, reviewed past projects and report our findings/concerns | + | | First team meetup to discuss the direction of the project, reviewed past projects and report our findings/concerns |
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
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| 2 | | 2 | ||
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| Divide the tasks & responsibilities among the team | | Divide the tasks & responsibilities among the team | ||
| All | | All | ||
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|- | |- | ||
| 3 | | 3 | ||
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| Finalize / Buy Parts | | Finalize / Buy Parts | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
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| Delegate Tasks | | Delegate Tasks | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
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| Get Data from Ultrasonic Sensor | | Get Data from Ultrasonic Sensor | ||
| Eishan, David | | Eishan, David | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
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| Get Data from Infrared Sensor | | Get Data from Infrared Sensor | ||
| Eishan, David | | Eishan, David | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
| Line 108: | Line 106: | ||
| Initial Draft for common DBC file for sensor readings | | Initial Draft for common DBC file for sensor readings | ||
| Eishan, David | | Eishan, David | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
| Line 115: | Line 113: | ||
| Get Data from GPS & CMPS14 | | Get Data from GPS & CMPS14 | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 3 | | 3 | ||
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| Develop Bluetooth Driver (UART + customized line buffer) | | Develop Bluetooth Driver (UART + customized line buffer) | ||
| Tyler | | Tyler | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 4 | | 4 | ||
| Line 129: | Line 127: | ||
| Initial UI Setup for Mobile App | | Initial UI Setup for Mobile App | ||
| Tyler | | Tyler | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 4 | | 4 | ||
| Line 136: | Line 134: | ||
| Bluetooth "Hello World" | | Bluetooth "Hello World" | ||
| Tyler | | Tyler | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 4 | | 4 | ||
| Line 143: | Line 141: | ||
| Build Driver Controller To Control Motor | | Build Driver Controller To Control Motor | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 4 | | 4 | ||
| Line 150: | Line 148: | ||
| Disassembly RC Car and Evaluation of Components | | Disassembly RC Car and Evaluation of Components | ||
| Manas | | Manas | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 4 | | 4 | ||
| Line 157: | Line 155: | ||
| Complete Motor Drive Development with basic PID control. | | Complete Motor Drive Development with basic PID control. | ||
| Manas | | Manas | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 5 | | 5 | ||
| Line 164: | Line 162: | ||
| Implement Bluetooth on Motor for wireless debugging | | Implement Bluetooth on Motor for wireless debugging | ||
| Manas | | Manas | ||
| − | | style="background-color:# | + | | style="background-color:#00FE00;" | Complete |
|- | |- | ||
| 5 | | 5 | ||
| Line 171: | Line 169: | ||
| Master Controller Integration | | Master Controller Integration | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 5 | | 5 | ||
| Line 178: | Line 176: | ||
| Send Heading / Bearing / Distance info over CANBus to the Driver Node | | Send Heading / Bearing / Distance info over CANBus to the Driver Node | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 5 | | 5 | ||
| Line 185: | Line 183: | ||
| Display Compass, GPS, Steering angle, and Acceleration info on the LCD screen. | | Display Compass, GPS, Steering angle, and Acceleration info on the LCD screen. | ||
| Manas, Suryanto | | Manas, Suryanto | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 5 | | 5 | ||
| Line 192: | Line 190: | ||
| Research and implement power solution for powering SJ2 boards w/ peripherals | | Research and implement power solution for powering SJ2 boards w/ peripherals | ||
| Eishan, Tyler | | Eishan, Tyler | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete<br /> |
|- | |- | ||
| 5 | | 5 | ||
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| Design and Order PCB. | | Design and Order PCB. | ||
| Eishan, Ka, Suryanto | | Eishan, Ka, Suryanto | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 6 | | 6 | ||
| Line 206: | Line 204: | ||
| Map PWM Duty Cycles to real speed (KmPH) readings. | | Map PWM Duty Cycles to real speed (KmPH) readings. | ||
| Manas | | Manas | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 6 | | 6 | ||
| Line 213: | Line 211: | ||
| Design, 3D print, and assemble LED ring. | | Design, 3D print, and assemble LED ring. | ||
| Tyler | | Tyler | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 6 | | 6 | ||
| Line 234: | Line 232: | ||
| MIA handling for GPS module | | MIA handling for GPS module | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 6 | | 6 | ||
| Line 241: | Line 239: | ||
| Test LED ring which shows the compass info | | Test LED ring which shows the compass info | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 7 | | 7 | ||
| Line 248: | Line 246: | ||
| Create Collision Avoidance Algorithm Module | | Create Collision Avoidance Algorithm Module | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#0F0;" | Complete |
|- | |- | ||
| 7 | | 7 | ||
| Line 255: | Line 253: | ||
| Create Pathing from GPS Data | | Create Pathing from GPS Data | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#f8ff00;" | Delayed |
|- | |- | ||
| 7 | | 7 | ||
| Line 262: | Line 260: | ||
| Hardware Integration Test and First Field Test | | Hardware Integration Test and First Field Test | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 7 | | 7 | ||
| Line 269: | Line 267: | ||
| Optimize Obstacle Detection Based On First Field Test Result (if needed) | | Optimize Obstacle Detection Based On First Field Test Result (if needed) | ||
| Suryanto, Ka | | Suryanto, Ka | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 8 | | 8 | ||
| Line 275: | Line 273: | ||
| April 25, 2021 | | April 25, 2021 | ||
| Design and Print Mounting Components | | Design and Print Mounting Components | ||
| − | | | + | | Tyler |
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 9 | | 9 | ||
| Line 283: | Line 281: | ||
| PCAN / BusMaster Configuration on car. | | PCAN / BusMaster Configuration on car. | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 10 | | 10 | ||
| Line 290: | Line 288: | ||
| CANBus Integration | | CANBus Integration | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 11 | | 11 | ||
| Line 297: | Line 295: | ||
| MIA Integration | | MIA Integration | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#34ff34;" | Complete |
|- | |- | ||
| 12 | | 12 | ||
| Line 304: | Line 302: | ||
| Big Integration and Live Field Test (Split into 2) | | Big Integration and Live Field Test (Split into 2) | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#FE0000;" | In Progress |
|- | |- | ||
| 12 | | 12 | ||
| Line 311: | Line 309: | ||
| System Debug & fine tuning | | System Debug & fine tuning | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#FE0000;" | In Progress |
|- | |- | ||
| 13 | | 13 | ||
| Line 318: | Line 316: | ||
| Demo Prep | | Demo Prep | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#FE0000;" | In Progress |
|- | |- | ||
| 13 | | 13 | ||
| Line 325: | Line 323: | ||
| Wiki Report | | Wiki Report | ||
| All | | All | ||
| − | | style="background-color:# | + | | style="background-color:#FE0000;" | In Progress |
|} | |} | ||
Revision as of 15:54, 17 May 2021
Contents
Project Title
exFAT project title here.
Abstract
Add a few sentence abstract here.
Introduction
The project was divided into 5 modules:
- Sensor
- Motor
- Geo Controller
- Driver/LCD Controller
- Web application
Team Members & Responsibilities
<Team Picture>
Gitlab Project Link - [1]
- Sensors
- Motor
- Geographical (GPS & compass)
- Driver/Master Controller & LCD
- All of us
- Communication Bridge Controller
- Android Application
| Week | Start Date | End Date | Task | Person in Charge (PIC) | Status |
|---|---|---|---|---|---|
| 1 | Feb 27, 2021 | March 5, 2021 | First team meetup to discuss the direction of the project, reviewed past projects and report our findings/concerns | All | Complete |
| 2 | March 6, 2021 | March 13, 2021 | Divide the tasks & responsibilities among the team | All | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Finalize / Buy Parts | All | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Delegate Tasks | All | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Get Data from Ultrasonic Sensor | Eishan, David | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Get Data from Infrared Sensor | Eishan, David | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Initial Draft for common DBC file for sensor readings | Eishan, David | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Get Data from GPS & CMPS14 | Suryanto, Ka | Complete |
| 3 | March 14, 2021 | March 21, 2021 | Develop Bluetooth Driver (UART + customized line buffer) | Tyler | Complete |
| 4 | March 21, 2021 | March 28, 2021 | Initial UI Setup for Mobile App | Tyler | Complete |
| 4 | March 21, 2021 | March 28, 2021 | Bluetooth "Hello World" | Tyler | Complete |
| 4 | March 21, 2021 | March 28, 2021 | Build Driver Controller To Control Motor | Suryanto, Ka | Complete |
| 4 | March 21, 2021 | March 28, 2021 | Disassembly RC Car and Evaluation of Components | Manas | Complete |
| 4 | March 21, 2021 | March 28, 2021 | Complete Motor Drive Development with basic PID control. | Manas | Complete |
| 5 | March 21, 2021 | March 28, 2021 | Implement Bluetooth on Motor for wireless debugging | Manas | Complete |
| 5 | March 28, 2021 | April 04, 2021 | Master Controller Integration | All | Complete |
| 5 | March 28, 2021 | April 04, 2021 | Send Heading / Bearing / Distance info over CANBus to the Driver Node | Suryanto, Ka | Complete |
| 5 | March 28, 2021 | April 04, 2021 | Display Compass, GPS, Steering angle, and Acceleration info on the LCD screen. | Manas, Suryanto | Complete |
| 5 | March 28, 2021 | April 04, 2021 | Research and implement power solution for powering SJ2 boards w/ peripherals | Eishan, Tyler | Complete |
| 5 | March 28, 2021 | April 04, 2021 | Design and Order PCB. | Eishan, Ka, Suryanto | Complete |
| 6 | April 04, 2021 | April 11, 2021 | Map PWM Duty Cycles to real speed (KmPH) readings. | Manas | Complete |
| 6 | April 04, 2021 | April 11, 2021 | Design, 3D print, and assemble LED ring. | Tyler | Complete |
| 6 | April 04, 2021 | April 11, 2021 | Complete required elements of mobile application | Tyler | Complete |
| 6 | April 04, 2021 | April 11, 2021 | Deploy webpage to web server | Tyler | Complete |
| 6 | April 04, 2021 | April 11, 2021 | MIA handling for GPS module | Suryanto, Ka | Complete |
| 6 | April 04, 2021 | April 11, 2021 | Test LED ring which shows the compass info | Suryanto, Ka | Complete |
| 7 | April 11, 2021 | April 18, 2021 | Create Collision Avoidance Algorithm Module | Suryanto, Ka | Complete |
| 7 | April 11, 2021 | April 18, 2021 | Create Pathing from GPS Data | Suryanto, Ka | Delayed |
| 7 | April 11, 2021 | April 18, 2021 | Hardware Integration Test and First Field Test | All | Complete |
| 7 | April 11, 2021 | April 18, 2021 | Optimize Obstacle Detection Based On First Field Test Result (if needed) | Suryanto, Ka | Complete |
| 8 | April 18, 2021 | April 25, 2021 | Design and Print Mounting Components | Tyler | Complete |
| 9 | April 25, 2021 | May 02, 2021 | PCAN / BusMaster Configuration on car. | All | Complete |
| 10 | May 02, 2021 | May 09, 2021 | CANBus Integration | All | Complete |
| 11 | May 09, 2021 | May 16, 2021 | MIA Integration | All | Complete |
| 12 | May 16, 2021 | May 23, 2021 | Big Integration and Live Field Test (Split into 2) | All | In Progress |
| 12 | May 16, 2021 | May 23, 2021 | System Debug & fine tuning | All | In Progress |
| 13 | May 23, 2021 | May 28, 2021 | Demo Prep | All | In Progress |
| 13 | May 23, 2021 | May 28, 2021 | Wiki Report | All | In Progress |
Parts List & Cost
| Item # | Part Description | Vendor | Quantity | Total Cost |
|---|---|---|---|---|
| 1 | GPS Breakout board | Adafruit | 1 | $39.75 |
| 2 | GPS Antenna | Amazon | 1 | $8.43 |
| 3 | CMPS14 | RobotShop | 1 | $35.31 |
| 4 | HC05 | Amazon | 1 | $13.59 |
| 5 | CAN Transceiver | Waveshare | 5 | $21.45 |
| 6 | Infrared sensor(s) | Amazon | 1 | $10.89 |
| 7 | Ultrasonic sensor(s) | Amazon | 3 | $81.78 |
| 8 | SJTwo Evaluation Board | Amazon | 6 | $330 |
| 9 | Traxxas Rustler | Traxxas | 1 | $169.99 |
| 10 | Traxxas Battery + Charger | Traxxas | 1 | $59.99 |
| 11 | RPM sensor | Traxxas | 1 | $12.00 |
| 12 | LED ring 8 LEDs (Cat shape) | DIY | 1 | N/A |
Printed Circuit Board
<Picture and information, including links to your PCB>
CAN Communication
<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
Hardware Design
<Show your CAN bus hardware design>
DBC File
In our DBC file, we have 6 nodes, DRIVER, SENSOR, BRIDGE, GEO CONTROLLER, COMPASS, and MOTOR. Each of them represents a message sends from one node to another via the CAN bus.
1. The DRIVER sends the throttle and wheel angle command to the MOTOR so it knows when to speed up, speed down and turn.
2. The SENSOR sends the information about how far away is each of the Ultrasonic sensors away from the obstacles
3. The BRIDGE sends the GPS destination to the GEO Controller
4. The GEO CONTROLLER sends the current location of the car back to the BRIDGE
5. The GEO CONTROLLER sends the heading, bearing, and the distance from the destination to the DRIVER
6. The MOTOR sends the PWM and current speed information to the DEBUG node.
Gitlab link to the dbc file
VERSION "1.0.0" BU_: DRIVER SENSOR BRIDGE GEO_CONTROLLER COMPASS MOTOR BO_ 100 DRIVER: 3 DRIVER SG_ DRIVER_throttle : 0|16@1- (0.1,-11) [-11.1|11.1] "kph" MOTOR SG_ DRIVER_wheel_angle: 16|8@1- (1,-4) [-4|4] "degree" MOTOR BO_ 200 SENSOR: 5 SENSOR SG_ SENSOR_sonar_front_left : 0|10@1+ (1,0) [0|0] "cm" DRIVER SG_ SENSOR_sonar_front_mid : 10|10@1+ (1,0) [0|0] "cm" DRIVER SG_ SENSOR_sonar_front_right : 20|10@1+ (1,0) [0|0] "cm" DRIVER SG_ SENSOR_infrared_back_mid : 30|10@1+ (1,0) [0|0] "cm" DRIVER BO_ 205 GPS_DESTINATION: 7 BRIDGE SG_ LATITUDE_DEGREE : 0|8@1- (1, -90) [-90|90] "degree" GEO_CONTROLLER SG_ LONGITUDE_DEGREE : 8|9@1- (1, -180) [-180|180] "degree" GEO_CONTROLLER SG_ LATITUDE_MINUTE : 17|6@1+ (1, 0) [0|60] "minute" GEO_CONTROLLER SG_ LONGITUDE_MINUTE : 23|6@1+ (1, 0) [0|60] "minute" GEO_CONTROLLER SG_ LATITUDE_SECOND : 29|13@1+ (0.01, 0) [0|60] "second" GEO_CONTROLLER SG_ LONGITUDE_SECOND : 42|13@1+ (0.01, 0) [0|60] "second" GEO_CONTROLLER BO_ 206 GPS_CURRENT_LOCATION: 7 GEO_CONTROLLER SG_ LATITUDE_DEGREE : 0|8@1- (1, -90) [-90|90] "degree" BRIDGE SG_ LONGITUDE_DEGREE : 8|9@1- (1, -180) [-180|180] "degree" BRIDGE SG_ LATITUDE_MINUTE : 17|6@1+ (1, 0) [0|60] "minute" BRIDGE SG_ LONGITUDE_MINUTE : 23|6@1+ (1, 0) [0|60] "minute" BRIDGE SG_ LATITUDE_SECOND : 29|13@1+ (0.01, 0) [0|60] "second" BRIDGE SG_ LONGITUDE_SECOND : 42|13@1+ (0.01, 0) [0|60] "second" BRIDGE BO_ 210 COMPASS_HEADING_DISTANCE: 8 COMPASS SG_ HEADING : 0|12@1+ (0.1, 0) [0|359.9] "degrees" DRIVER SG_ BEARING : 12|12@1+ (0.1, 0) [0|359.9] "degrees" DRIVER SG_ DISTANCE : 24|12@1+ (0.01, 0) [0|0] "meters" DRIVER BO_ 220 MOTOR_DEBUG: 8 MOTOR SG_ MOTOR_PWM : 0|32@1+ (0.01, 0) [10|20] "duty cycle" DEBUG SG_ CURRENT_SPEED : 32|32@1- (0.1,-11) [-11.1|11.1] "kph" DEBUG
Sensor ECU
<Picture and link to Gitlab>
Hardware Design
 |
|
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Motor ECU
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Geographical Controller
Hardware Design
We used the Ultimate GPS Breakout v3 and an antenna to better receive the GPS signal.
For the GPS module, it sends several NMEA sentences but we only look for the $GPGGA ones. Therefore, we had to change the settings of the modules using a USB to UART bridge to send the command to the GPS module.
 |
|
Software Design
<List the code modules that are being called periodically.>
void periodic_callbacks__10Hz(uint32_t callback_count) {
// receive desintation coordinates from the web app (sensor/bridge controller)
gps__receive_message(can1);
gps__run_once();
// transmit current gps coordinates to the web app (sensor/bridge controller)
gps__transmit_msg_to_bridge(can1);
// transmit compass heading, bearing, distance to the driver (driver controller)
cmps14__transmit_message(can1);
led_ring_turn_on_led_north();
count = gps_fix_led_logic(gpio_input_p2_0, gpio_output_p1_18, count);
}
Technical Challenges
< List of problems and their detailed resolutions>
/*** TEMPORARY NOTES ***/
1. Encountered issues with getting fixed coordinates. Fixed it by obtaining external antenna and plugging in CR1220 as a backup battery.
2. The dbc format can support up to only 6 decimal point, which is not accurate when it is being used to store the GPS coordinates. Fix by using the Degrees Minutes Seconds format.
/***********************/
Communication Bridge Controller & LCD
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Master Module
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Mobile Application
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
< List of problems and their detailed resolutions>
Conclusion
<Organized summary of the project>
<What did you learn?>
Project Video
Project Source Code
Our source code is on Gitlab.
Advise for Future Students
<Bullet points and discussion>
